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Gabriel George Zipperer

1 development in the corpus

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SEP 3, 2026 · PREPRINT

A Low-Cost, Open Platform for End-to-End Autonomous Driving on a Miniature Ackermann Vehicle

arXiv

This is an unvalidated technical platform paper demonstrating proof-of-concept for miniature autonomous vehicle control using imitation learning, without peer review, clinical outcomes, or external validation.

PreliminaryGustavo Claudio Karl Couto Eric Aislan Antonelo Gabriel George Zipperer

Reported

Real closed-loop mean cross-track…6.1 cm

Human demonstration mean cross-tr…4.7 cm

Simulated mean cross-track error…35.6 cm

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